﻿#!/usr/bin/env python
# -*- coding: utf-8 -*-
# -*- Python -*-

from __future__ import print_function
import sys
import time

import RTC
import OpenRTM_aist

consoleout_spec = ["implementation_id", "ConsoleOut",
                   "type_name", "ConsoleOut",
                   "description", "Console output component",
                   "version", "1.0",
                   "vendor", "Shinji Kurihara",
                   "category", "example",
                   "activity_type", "DataFlowComponent",
                   "max_instance", "10",
                   "language", "Python",
                   "lang_type", "script",
                   ""]


class ConsoleOut(OpenRTM_aist.DataFlowComponentBase):
    def __init__(self, manager):
        OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
        return

    def onInitialize(self):
        self._data = RTC.TimedLong(RTC.Time(0, 0), 0)
        self._inport = OpenRTM_aist.InPort("in", self._data)
        # Set InPort buffer
        self.addInPort("in", self._inport)
        return RTC.RTC_OK

    def onExecute(self, ec_id):
        if self._inport.isNew():
            data = self._inport.read()
            print("Received: ", data.data)
            print("TimeStamp: ", data.tm.sec, "[s] ", data.tm.nsec, "[ns]")
        time.sleep(0.001)
        return RTC.RTC_OK


def MyModuleInit(manager):
    profile = OpenRTM_aist.Properties(defaults_str=consoleout_spec)
    manager.registerFactory(profile,
                            ConsoleOut,
                            OpenRTM_aist.Delete)

    # Create a component
    comp = manager.createComponent("ConsoleOut")


def main():
    # Initialize manager
    mgr = OpenRTM_aist.Manager.init(sys.argv)

    # Set module initialization proceduer
    # This procedure will be invoked in activateManager() function.
    mgr.setModuleInitProc(MyModuleInit)

    # Activate manager and register to naming service
    mgr.activateManager()

    # run the manager in blocking mode
    # runManager(False) is the default
    mgr.runManager()

    # If you want to run the manager in non-blocking mode, do like this
    # mgr.runManager(True)


if __name__ == "__main__":
    main()
